CN108638082A - Security robot system based on Internet of Things - Google Patents
Security robot system based on Internet of Things Download PDFInfo
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- CN108638082A CN108638082A CN201810460551.4A CN201810460551A CN108638082A CN 108638082 A CN108638082 A CN 108638082A CN 201810460551 A CN201810460551 A CN 201810460551A CN 108638082 A CN108638082 A CN 108638082A
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- security robot
- internet
- things
- detecting devices
- monitoring device
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Alarm Systems (AREA)
Abstract
The present invention provides a kind of security robot systems based on Internet of Things, are related to technical field of security and protection.The system includes：Monitoring device, security robot and detecting devices, security robot is communicated to connect with monitoring device and detecting devices respectively, monitoring device is for obtaining the image in its monitoring area and being sent to security robot, detecting devices is used to send warning information to security robot when detecting anomalous event, security robot is used to carry out analysis to the image and when analysis result is anomalous event or receives the warning information of detecting devices transmission, is moved to the region for the event of being abnormal to carry out detecting or early warning.Security robot system provided by the invention based on Internet of Things is communicated to connect using Internet of Things pattern and monitoring device and detecting devices, realize data sharing, expand the perceptional function and sensing range of security robot, the early warning immediately when being abnormal event, and incident point is rushed for rapidly, ensure people's personal safety as well as the property safety.
Description
Technical field
The present invention relates to technical field of security and protection, in particular to a kind of security robot system based on Internet of Things.
Background technology
With the continuous maturation of artificial intelligence and technology of Internet of things, increasingly payes attention to quality of the life in this people and pacify with property
The market of full today, city security protection, community security defence and indoor security are increasing, the smart city proposed in the recent period and wisdom school
The concepts such as garden are also required to the support of powerful strong safety-protection system.
The monitoring device having on the market is mainly with camera, sound pick-up, intrusion detector and building residence intercommunication system at this stage
System etc., is monitored the region of supervision by the way of camera plus operator attendance, however, throwing in advance in this manner
Enter a large amount of human cost, need to arrange for it is special it is artificial remove each display screen of real time inspection, manually inevitably make mistakes or
When ignoring, reliability is weaker.
Invention content
The purpose of the present invention is to provide a kind of security robot systems based on Internet of Things, to improve above-mentioned problem.
The invention is realized in this way：
A kind of security robot system based on Internet of Things, the security robot system based on Internet of Things include：Prison
Equipment, security robot and detecting devices are controlled, the security robot is logical with the monitoring device and the detecting devices respectively
Letter connection, the monitoring device is for obtaining the image in its monitoring area and being sent to the security robot, the detection
Equipment is used to send warning information to the security robot when detecting anomalous event, and the security robot is used for institute
Image is stated to carry out analysis and when analysis result is anomalous event or receives the warning information of the detecting devices transmission, move
It moves to the region for the event that is abnormal to carry out detecting or early warning.
Security robot system based on Internet of Things as described above, optionally, the security robot by wifi or
4G communication networks are communicated to connect with the monitoring device and the detecting devices respectively.
Security robot system based on Internet of Things as described above, optionally, the monitoring device and the detection are set
It is standby to be both provided with locating module.
Security robot system based on Internet of Things as described above, optionally, the security robot are prerecorded with
The location information of the monitoring device and the detecting devices.
Security robot system based on Internet of Things as described above, optionally, the security robot include mobile flat
Platform module, torso exercise module, head movement module, voice interaction module and picture recognition module, the mobile platform module
The region for the event of being abnormal is moved to for the security robot, the torso exercise module is used for the security robot
Limb action function, the head movement module for the security robot head rotation with adjust be arranged in the peace
The direction of the camera of anti-robot head, the voice interaction module are used for the voice interactive function of the security robot,
Processing is identified to the image got for the security robot in described image identification module.
Security robot system based on Internet of Things as described above, optionally, described image identification module is additionally operable to pair
The image that the camera on the security robot head is got is arranged to be identified.
Security robot system based on Internet of Things as described above, optionally, the detecting devices be intrusion detector,
Smoke sensor device or wireless induction alarm.
Security robot system based on Internet of Things as described above, optionally, the monitoring device are wireless camera.
Security robot system based on Internet of Things as described above, optionally, the quantity of the detecting devices is one
Or it is multiple, the quantity of the monitoring device is one or more.
Security robot system based on Internet of Things as described above, optionally, the security robot system based on Internet of Things
System further includes user terminal, and the user terminal and the security robot communicate to connect, and the security robot is additionally operable to pair
Described image carries out analysis and when analysis result is anomalous event or receives the warning information of the detecting devices transmission,
Information warning is sent to the user terminal.
For the prior art, the security robot system provided by the invention based on Internet of Things has following beneficial effect
Fruit：
It is provided by the invention based on the security robot system of Internet of Things by security robot using Internet of Things pattern with
The monitoring device on periphery is communicatively coupled with detecting devices, realizes data sharing, expand the perceptional function of security robot with
Sensing range.The early warning immediately when being abnormal event, and spot is rushed for rapidly, ensure people's personal safety as well as the property safety.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the function module signal for the security robot system based on Internet of Things that first embodiment of the invention provides
Figure.
Fig. 2 is the block diagram for the security robot that first embodiment of the invention provides.
Fig. 3 is the function module signal for the security robot system based on Internet of Things that second embodiment of the invention provides
Figure.
Icon：100- monitoring devices；200- security robots；210- mobile platform modules；220- torso exercise modules；
230- head movement modules；240- voice interaction modules；250- picture recognition modules；300- detecting devices；400- user terminals.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
The every other embodiment that technical staff is obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is instruction or implies that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is instruction or implies relative importance.
In addition, the terms such as term "horizontal", "vertical", " pendency " are not offered as requiring component abswolute level or pendency, and
It is that can be slightly tilted.It is not to indicate the structure if "horizontal" refers to only that its direction is more horizontal with respect to for "vertical"
It has to fully horizontally, but can be slightly tilted.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, can also be electrical connection；It can be directly connected, it can also be indirect by intermediary
It is connected, can is the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
First embodiment
Referring to Fig. 1, an embodiment of the present invention provides a kind of security robot system based on Internet of Things, it is described to be based on object
The security robot system of networking is for supervising cell, interior, school etc., the security robot based on Internet of Things
System includes monitoring device 100, security robot 200 and detecting devices 300, the security robot 200 respectively with it is described
Monitoring device 100 and the communication connection of the detecting devices 300 are to carry out data interaction.
Wherein, the monitoring device 100 is for obtaining the image in its monitoring area and being sent to the security robot
200, the detecting devices 300 is used to send warning information to the security robot 200 when detecting anomalous event, described
Security robot 200 be used for described image carry out analysis and when analysis result be anomalous event or receive it is described detection set
When the warning information of standby 300 transmission, the region for the event of being abnormal is moved to carry out detecting or early warning.
According to specific scene, the quantity of monitoring device 100 and detecting devices 300 can be one or more, with prison
It is preferable that control equipment 100 and detecting devices 300, which are respectively multiple, and multiple monitoring devices 100 and multiple detecting devices 300 are distributed in
In region to be regulated.In the embodiment of the present invention, the monitoring device 100 and the detecting devices 300 can utilize original
Monitoring device in placement system and detecting devices.
Specifically, the monitoring device 100 obtains the video image in its search coverage by its camera, and to obtaining
The video image arrived carries out image interception according to certain time interval, filters out clearly picture, then by radio communication
Mode the picture filtered out is sent to security robot 200.The monitoring device 100, which may be, but not limited to, wirelessly to be taken the photograph
Camera or the camera etc. that communication module is arranged, monitoring device 100 described in the embodiment of the present invention are wireless camera, the nothing
Line video camera can be integrated camera, gun type camera, infrared night video camera or spherical camera etc., described wirelessly to take the photograph
The image processing module of camera can be TMS320C6000 or Raspberry Pi B etc., the image letter of the wireless camera
Breath transmission can be the mode of wifi transmission, POE transmission, optical fiber+interchanger transmission or cable+interchanger transmission.
The detecting devices 300 is used to detect its search coverage, identifies the anomalous event in its search coverage,
And different warning information is sent to be divided to security robot 200 by wireless transponder according to the anomalous event identified
Class early warning.In the embodiment of the present invention, the detecting devices 300 may be, but not limited to, intrusion detector, smoke sensor device or nothing
Line induction alarm device etc..Such as HC-SR501 human body infrareds induction module, JTY-GF-TX6190 types smoke sensor device and
TAYB0620-30NB type wireless induction alarms etc..
For example, when detecting devices 300 is the intrusion detector of active infrared type, when search coverage someone invades, visit
Measurement equipment 300 can detect the infrared signal of human body to identify the anomalous event of someone's invasion, and pass through wireless transponder
The warning information for indicating that someone invades is sent to security robot 200, so that security robot 200 can know the detection
Search coverage someone of equipment 300 invades.
In the embodiment of the present invention, the monitoring device 100 and the detecting devices 300 respectively with the security robot
200 communication connections, may be used but be not limited by wifi, 4G communication network or zigbee etc. and be communicatively coupled.
The security robot 200 is used to the image that the monitoring device 100 is sent analyze and when analysis knot
When fruit is anomalous event or receives the warning information of the transmission of the detecting devices 300, it is moved to the region for the event of being abnormal
To carry out detecting or early warning.
Specifically, referring to Fig. 2, the security robot 200 includes mobile platform module 210, torso exercise module
220, head movement module 230, voice interaction module 240 and picture recognition module 250.The mobile platform module 210 is used for
The security robot 200 is moved to the region for the event of being abnormal, and mainly realizes locomotive function by driving motor, mobile
Console module 210 has the function of location navigation, path planning, avoidance hedging and object tracking etc., and EAI may be used
YDLIDAR X4 laser radars or EAI YDLIDAR F4 laser radars etc..Torso exercise module 220 mainly realizes security protection machine
The limb action function of people 200, such as the actions such as shake hands, bow, can drive limb motion by driving motor.It transports on head
Dynamic model block 230 mainly realizes 200 rotary head of security robot action, can be moved by driving motor drive head, security protection
Video camera of the robot 200 head setting for camera shooting, to realize that taking the photograph on 200 head of the security robot is arranged in adjustment
As the direction of head, so that security robot 200 can obtain different directions image.The voice interaction module 240 is for described
The voice interactive function of security robot 200.Described image identification module 250 is for the security robot 200 to getting
Image (image that gets of camera for the image and anti-robot head that monitoring device 100 is sent) processing is identified,
Such as recognition of face, human action identification (as fallen).When discriminance analysis result be anomalous event or receive it is described detection set
Standby 300 send warning information when, the region for the event of being abnormal is moved to by mobile platform module 210 with carry out detecting or
Early warning.Wherein, the anomalous event may be, but not limited to, the events such as human body tumble, fire, invasion.
In the embodiment of the present invention, security robot 200 can be moved to the region for the event of being abnormal.It can be passed through
It is provided with locating module in the monitoring device 100 and the detecting devices 300, such as GPS positioning module or Big Dipper positioning mould
Block etc., when to 200 transmission data of security robot, the monitoring device 100 and the detecting devices 300 are also by locating module
The location information got is sent to security robot 200.It can also be the pre-recorded each monitoring of security robot 200
The location information of equipment 100 and each detecting devices 300, when being abnormal event, security robot 200 can be according to advance
The location information of record is moved to the monitoring device 100 corresponding to the event of being abnormal or the region corresponding to detecting devices 300.
In the process supervised to scenes such as cell, interior, schools using the security robot system based on Internet of Things
In, the detecting devices 300 in real time detects its search coverage, identifies the anomalous event in its search coverage, and root
It is pre- classify that different warning information sent to security robot 200 by wireless transponder according to the anomalous event identified
It is alert.At the same time, the monitoring device 100 obtains the video image in its search coverage by its camera, and to getting
Video image carry out image interception according to certain time interval, filter out after clearly picture through wireless communication
The picture filtered out is sent to security robot 200, processing is identified to the image got in security robot 200, knows
Do not go out and whether be abnormal event, when the result identified is the event that is abnormal or receives what detecting devices 300 was sent
When warning information, the region corresponding to monitoring device 100 or detecting devices 300 that is moved to corresponding to the event of being abnormal.
In conclusion the security robot system provided in an embodiment of the present invention based on Internet of Things, which uses, has mobile platform
Security robot 200 and periphery monitoring equipment 100 and detecting devices 300 realize data sharing so that security robot 200
Sensing range and ability all greatly improve, and using the cruising ability of security robot 200, make entire security protection System forming one
A closed-loop system, the early warning immediately when being abnormal event, and incident point is rushed for rapidly, ensure people's personal safety as well as the property safety.Together
When, due to can make full use of peripheral equipment (monitoring device 100 and detecting devices 300), if greatly reducing will reach
The integrated cost of the security robot 200 of effect same.Secondly, use 200 system of Intelligent internet of things security robot can be with one
Determine to replace monitoring of the operator attendance to monitoring video in degree, reduces human cost.In addition, the reliability of system is stronger, due to
The data of monitoring device 100 can be sent to the processor of security robot 200, rather than naked eyes manually are identified, and keep away
The error for having exempted from manual examination and verification improves the reliability of system.
Second embodiment
Referring to Fig. 3, the security robot system provided in this embodiment based on Internet of Things is the base in first embodiment
The improvement carried out on plinth is not directed to place in the present embodiment and refers to description in first embodiment.
Different from the first embodiment the security robot system provided in an embodiment of the present invention based on Internet of Things also wraps
User terminal 400 is included, the user terminal 400 is communicated to connect with the security robot 200, the security robot 200
It is additionally operable to carry out analysis to described image and when analysis result is anomalous event or receives what the detecting devices 300 was sent
When warning information, information warning is sent to the user terminal 400, so that relevant staff in time carries out anomalous event
Processing.In the embodiment of the present invention, the user terminal 400 may be, but not limited to, smart mobile phone, tablet computer or PC
Deng.
In conclusion the security robot system provided in an embodiment of the present invention based on Internet of Things, which uses, has mobile platform
Security robot 200 and periphery monitoring equipment 100 and detecting devices 300 realize data sharing so that security robot 200
Sensing range and ability all greatly improve, and using the cruising ability of security robot 200, make entire security protection System forming one
A closed-loop system, the early warning immediately when being abnormal event, and incident point is rushed for rapidly, ensure people's personal safety as well as the property safety.Together
When, due to can make full use of peripheral equipment (monitoring device 100 and detecting devices 300), if greatly reducing will reach
The integrated cost of the security robot 200 of effect same.Secondly, use 200 system of Intelligent internet of things security robot can be with one
Determine to replace monitoring of the operator attendance to monitoring video in degree, reduces human cost.In addition, the reliability of system is stronger, due to
The data of monitoring device 100 can be sent to the processor of security robot 200, rather than naked eyes manually are identified, and keep away
The error for having exempted from manual examination and verification improves the reliability of system.Finally, when analysis result for anomalous event or receives the spy
When the warning information that measurement equipment 300 is sent, information warning can be sent to the user terminal, so as to relevant staff and
When anomalous event is handled.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should be noted that：Similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and is explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of security robot system based on Internet of Things, which is characterized in that including：Monitoring device, security robot and spy
Measurement equipment, the security robot are communicated to connect with the monitoring device and the detecting devices respectively, and the monitoring device is used
In the image obtained in its monitoring area and it is sent to the security robot, the detecting devices, which is used to work as, detects abnormal thing
Warning information is sent to the security robot when part, the security robot is used to analyze and work as dividing to described image
When analysis result is anomalous event or receives the warning information that the detecting devices is sent, it is moved to the region for the event of being abnormal
To carry out detecting or early warning.
2. the security robot system according to claim 1 based on Internet of Things, which is characterized in that the security robot
It is communicated to connect respectively with the monitoring device and the detecting devices by wifi or 4G communication networks.
3. the security robot system according to claim 1 based on Internet of Things, which is characterized in that the monitoring device and
The detecting devices is both provided with locating module.
4. the security robot system according to claim 1 based on Internet of Things, which is characterized in that the security robot
It is prerecorded with the location information of the monitoring device and the detecting devices.
5. the security robot system according to claim 1 based on Internet of Things, which is characterized in that the security robot
Including mobile platform module, torso exercise module, head movement module, voice interaction module and picture recognition module, the shifting
Moving platform module is moved to the region for the event of being abnormal for the security robot, and the torso exercise module is for described
The limb action function of security robot, head rotation of the head movement module for the security robot are set with adjusting
It sets in the direction of the camera on the security robot head, the voice interaction module is used for the voice of the security robot
Processing is identified to the image got for the security robot in interactive function, described image identification module.
6. the security robot system according to claim 5 based on Internet of Things, which is characterized in that described image identifies mould
Block is additionally operable to be identified to the image got in the camera on the security robot head is arranged.
7. the security robot system according to claim 1 based on Internet of Things, which is characterized in that the detecting devices is
Intrusion detector, smoke sensor device or wireless induction alarm.
8. the security robot system according to claim 1 based on Internet of Things, which is characterized in that the monitoring device is
Wireless camera.
9. the security robot system according to claim 1 based on Internet of Things, which is characterized in that the detecting devices
Quantity is one or more, and the quantity of the monitoring device is one or more.
10. the security robot system according to claim 1 based on Internet of Things, which is characterized in that further include user's end
End, the user terminal are communicated to connect with the security robot, and the security robot is additionally operable to divide described image
Analysis and when analysis result is anomalous event or receives warning information that the detecting devices is sent, to the user terminal
Send information warning.
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| CN201810460551.4A CN108638082A (en) | 2018-05-15 | 2018-05-15 | Security robot system based on Internet of Things |
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| CN201810460551.4A CN108638082A (en) | 2018-05-15 | 2018-05-15 | Security robot system based on Internet of Things |
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